add catch to getspeed and change names

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 7376255d6e6eea2feb382c7186f48da30ec136ba..e677317188a5aefe6257a2520e6cf6280d66a2ac 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -13,12 +13,17 @@ public class Shooter extends Subsystem {
     shooter = new CANTalon(Constants.Shooter.PORT);\r
   }\r
 \r
-  public double getCurrentSpeed() {\r
+  public double getCurrentSetPoint() {\r
     return shooter.get();\r
   }\r
 \r
   public void setSpeed(double speed) {\r
-    shooter.set(speed);\r
+    if (speed >= 1.0)\r
+      shooter.set(1.0);\r
+    else if (speed <= -1.0)\r
+      shooter.set(-1.0);\r
+    else\r
+      shooter.set(speed);\r
   }\r
 \r
   public void stop() {\r
@@ -26,17 +31,17 @@ public class Shooter extends Subsystem {
   }\r
 \r
   public State getState() {\r
-    return (this.getCurrentSpeed() == 0) ? State.RUNNING : State.STOPPED;\r
+    return (this.getCurrentSetPoint() == 0) ? State.RUNNING : State.STOPPED;\r
   }\r
 \r
   // Use negative # for decrement. Positive for increment.\r
   public void changeSpeed(double change) {\r
-    if (getCurrentSpeed() + change >= 1.0)\r
+    if (getCurrentSetPoint() + change >= 1.0)\r
       shooter.set(1.0);\r
-    else if (getCurrentSpeed() + change <= -1.0)\r
+    else if (getCurrentSetPoint() + change <= -1.0)\r
       shooter.set(-1.0);\r
     else {\r
-      double newSpeed = getCurrentSpeed() + change;\r
+      double newSpeed = getCurrentSetPoint() + change;\r
       setSpeed(newSpeed);\r
     }\r
   }\r